//------------------------------------------------------------------------------
//  <copyright file="GeometryElement3D.cs" company="Microsoft Corporation">
// The MIT License (MIT)
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// Copyright (c) 2014, Microsoft Corporation
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//------------------------------------------------------------------------------

namespace Microsoft.Robotics.Geometry
{
    using System.Runtime.Serialization;

    using Microsoft.Robotics.Numerics;

    /// <summary>
    /// A base class for a geometry element
    /// </summary>
    [DataContract]
    [KnownType(typeof(SphereElement))]
    [KnownType(typeof(TriangleElement))]
    public abstract class GeometryElement3D
    {
        /// <summary>
        /// Initializes a new instance of the <see cref="GeometryElement3D"/> class.
        /// </summary>
        public GeometryElement3D()
        {
            this.ReferenceFrame = Matrix4.Identity();
        }

        /// <summary>
        /// Gets or sets the reference frame of this geometry element
        /// The reference frame defines the coordinate system with
        /// respect to which the geometry element is defined.
        /// </summary>
        [DataMember]
        public Matrix4 ReferenceFrame { get; set; }

        /// <summary>
        /// Distance from another geometry element
        /// </summary>
        /// <param name="e">A geometry element</param>
        /// <returns>Distance from the geometry element.  If the distance
        /// is positive, it indicates the shortest distance between the two
        /// geometry elements.  If the distance is negative, it indicates
        /// the penetration depth between them.</returns>
        public abstract double DistanceFrom(GeometryElement3D e);
    }
}
